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  本文選題：全方向康復步行訓練機器人 + 變結構控制�。� 參考：《沈陽工業(yè)大學》2017年碩士論文

【摘要】：隨著老齡人口的不斷增長,由于疾病或者外力損傷所造成的運動性功能障礙患者越來越多,醫(yī)學研究表明科學的康復訓練能夠促進患者恢復,其中康復機器人得到了快速的發(fā)展�？祻蜋C器人屬于一類高度不確定性和易受外部擾動的非線性系統(tǒng),易受負載質量、重心偏移、未建模動態(tài)、周圍環(huán)境、機械形變、反饋信息測量誤差等因素的影響,很難保證系統(tǒng)跟蹤精度。針對以上問題學者們已經(jīng)設計出諸多控制方法;然而這些控制方法主要以實現(xiàn)軌跡跟蹤為目的,大部分忽視了康復機器人運動速度對患者的影響,或者以犧牲收斂時間為代價而達到一定的跟蹤效果。本文主要以全方向康復步行訓練機器人為研究對象,對具有重心偏移情況下動力學模型展開研究,采用變結構控制算法設計出相應的控制器,在確�；颊甙踩鸵欢ǜ櫨鹊那疤嵯�,實現(xiàn)速度受限和確定收斂時間的軌跡跟蹤。主要研究內(nèi)容如下:當系統(tǒng)跟蹤誤差較大時,康復機器人會產(chǎn)生較大的運動速度去消除跟蹤誤差�？紤]到速度對康復患者安全的影響,文中首先定義了安全的受限速度,采用反演方法設計出了針對速度和軌跡的補償算法;其次采用變結構的控制方法設計出可以直接限制速度的控制器;然后論證了系統(tǒng)的穩(wěn)定性;最后對比了在系統(tǒng)速度受限情況下,設計速度和位移補償項與不設計相應補償項兩種狀態(tài)下的跟蹤效果。通過仿真實驗驗證了控制策略的有效性,實現(xiàn)了速度受限的功能。另外從抑制系統(tǒng)的抖振和保證系統(tǒng)狀態(tài)能夠在有限時間內(nèi)收斂到平衡點出發(fā),在保證變結構控制的動態(tài)性能情況下,設計出一種新型控制器以提高軌跡的跟蹤精度。文中提出一種具有自適應效果的改進雙冪次趨近率去削弱系統(tǒng)的抖振,并通過對滑模面的重新設計確保了系統(tǒng)狀態(tài)能夠在有限時間內(nèi)收斂。通過仿真驗證該方法對系統(tǒng)的抖振具有很好的抑制效果,且系統(tǒng)誤差收斂速度加快,驗證了對期望軌跡跟蹤效果具有非常明顯的改善。
[Abstract]:With the increasing of aging population, there are more and more patients with motor dysfunction caused by disease or external force injury. Medical research shows that scientific rehabilitation training can promote patients' recovery. Among them, rehabilitation robot has been developed rapidly. Rehabilitation robot belongs to a kind of nonlinear system with high uncertainty and easy external disturbance. It is vulnerable to the influence of load mass, barycenter deviation, unmodeled dynamics, surrounding environment, mechanical deformation, measurement error of feedback information, etc. It is difficult to ensure the tracking accuracy of the system. In view of the above problems, many control methods have been designed by scholars. However, these control methods are mainly aimed at track tracking, and most of them ignore the effect of the speed of rehabilitation robot on patients. Or at the expense of convergence time to achieve a certain tracking effect. In this paper, taking the omnidirectional rehabilitation walking robot as the research object, the dynamic model with center of gravity deviation is studied, and the corresponding controller is designed by using variable structure control algorithm. On the premise of ensuring patient safety and certain tracking accuracy, track tracking with limited speed and fixed convergence time is realized. The main research contents are as follows: when the system tracking error is large, the rehabilitative robot will produce large motion speed to eliminate the tracking error. Considering the effect of speed on the safety of rehabilitated patients, the limited speed of safety is defined firstly, and the compensation algorithm for velocity and trajectory is designed by using inversion method. Secondly, the variable structure control method is used to design the controller which can directly limit the speed. Then, the stability of the system is demonstrated. The tracking effect of the design speed and displacement compensation term and the corresponding compensation term without the design. The effectiveness of the control strategy is verified by simulation experiments, and the speed limited function is realized. In addition, a new controller is designed to improve the tracking accuracy of the system by reducing the chattering and ensuring that the state of the system can converge to the equilibrium point in a finite time. Under the condition of ensuring the dynamic performance of the variable structure control, a new controller is designed to improve the tracking accuracy. In this paper, an improved double power convergence rate with adaptive effect is proposed to weaken the chattering of the system, and the state of the system can converge in a finite time by redesigning the sliding mode surface. The simulation results show that the proposed method has a good effect on the buffeting of the system, and the convergence rate of the system error is quickened, which verifies that the expected trajectory tracking effect is improved obviously.
【學位授予單位】：沈陽工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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